Abstract: In order to realize the automatic cleaning of navigation lights, a method based on monocular vision is proposed to locate and identify the navigation lighting and its light-emitting ports. By extracting the outline of the lamp in the camera image, the least squares method is used to fit the ellipse model of the lamp without lighting, and the pixel coordinates of the center of the lamp are obtained. The centroid method is used to calculate the pixel coordinates of the light source center in the light emitting state. Through the calibration of the camera, the ground constraint coordinate system is established to achieve the conversion from pixel coordinates to world coordinates, and the relative position between the camera and lamps is obtained.

Key words: monocular vision, contour extraction, least squares method, centroid positioning, coordinate transformation